void shootBox(const btVector3& destination)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
const btScalar BOX_DIMENSIONS = 3.0f;
btBoxShape* box = new btBoxShape( btVector3(BOX_DIMENSIONS, 0.1f, BOX_DIMENSIONS*4/3) );
box->initializePolyhedralFeatures();
m_shootBoxShape = box;
btRigidBody* body = localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.4f);//value should be smaller (embedded) than the half extends of the box (see ::setShootBoxShape)
LOGI("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
LOGI("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
LOGI("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
void Fenettre::shootBox(const btVector3& destination)
{
if (World)
{
btVector3 camPos = camera->GetPosition();
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=1000.0f; //vitesse
double size =1;
RigideBox* Box =new RigideBox(10.L,World,camPos,btVector3(size,size,size));
Box->SetShaderProgram(Prog[1]);
//Box->SetShaderProgram(Prog[randRange(0,MAXSHADER)]);
Box->setLinearFactor(btVector3(1,1,1));
Box->setOrigin(camPos);
Box->setRotation(btQuaternion(0,0,0,1)); //angle de base
Box->setLinearVelocity(linVel);
Box->setAngularVelocity(btVector3(25,25,25)); //rotation
Box->setCcdMotionThreshold(size/2.0f);
Box->setCcdSweptSphereRadius(0.9f);
ObjetsBt.push_back(Box);
}
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::shootTrimesh(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 4.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
#ifdef BULLET_GIMPACT
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_trimeshShape2);
#else
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,createBunnyShape());
#endif
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed*0.25;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
}
}
void DemoApplication::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(1.);
body->setCcdSweptSphereRadius(0.2f);
}
}
void DemoApplication::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f*1000.;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape,3,1|2);
body->setUserPointer((void*)-1);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.4f);//value should be smaller (embedded) than the half extends of the box (see ::setShootBoxShape)
// printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
// printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
// printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
}
void PhysicRigidBody::force(float x, float y, float z, float ax, float ay, float az, float force)
{
btVector3 linVel(x, y, z);
linVel.normalize();
linVel*=force;
m_pBodies->setLinearVelocity(linVel);
m_pBodies->setAngularVelocity(btVector3(ax, ay, az));
}
U32 PxSingleActor::packUpdate(NetConnection *con, U32 mask, BitStream *stream)
{
U32 retMask = Parent::packUpdate(con, mask, stream);
/*
if ( stream->writeFlag( mask & ForceSleepMask ) )
stream->writeFlag( mForceSleep );
stream->writeFlag( mask & SleepMask );
*/
if ( stream->writeFlag( mask & WarpMask ) )
{
stream->writeAffineTransform( getTransform() );
}
if ( stream->writeFlag( mask & MoveMask ) )
{
stream->writeAffineTransform( getTransform() );
if ( stream->writeFlag( mActor ) )
{
const NxVec3& linVel = mActor->getLinearVelocity();
stream->write( linVel.x );
stream->write( linVel.y );
stream->write( linVel.z );
const NxVec3& angVel = mActor->getAngularVelocity();
stream->write( angVel.x );
stream->write( angVel.y );
stream->write( angVel.z );
}
}
if ( stream->writeFlag( mask & ImpulseMask ) )
{
NxVec3 linVel( 0, 0, 0 );
if ( mActor )
linVel = mActor->getLinearVelocity();
stream->write( linVel.x );
stream->write( linVel.y );
stream->write( linVel.z );
}
// This internally uses the mask passed to it.
if ( mLightPlugin )
retMask |= mLightPlugin->packUpdate( this, LightMask, con, mask, stream );
return retMask;
}
void shootBox(const SimdVector3& destination)
{
int i = numObjects-1;
SimdVector3 linVel(destination[0]-eye[0],destination[1]-eye[1],destination[2]-eye[2]);
linVel.normalize();
linVel*=bulletSpeed;
physObjects[i]->setPosition(eye[0],eye[1],eye[2]);
physObjects[i]->setOrientation(0,0,0,1);
physObjects[i]->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
physObjects[i]->SetAngularVelocity(0,0,0,false);
}
Twist Axis::getRotationTwist(const double dtheta) const
{
Twist ret;
Eigen::Map<Eigen::Vector3d> linVel(ret.getLinearVec3().data());
Eigen::Map<Eigen::Vector3d> angVel(ret.getAngularVec3().data());
Eigen::Map<const Eigen::Vector3d> dir(direction.data());
Eigen::Map<const Eigen::Vector3d> orig(origin.data());
linVel = dtheta*(orig.cross(dir));
angVel = dir*dtheta;
return ret;
}
void FractureDemo::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
btScalar mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btAssert((!m_shootBoxShape || m_shootBoxShape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
m_shootBoxShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btFractureBody* body = new btFractureBody(mass,0,m_shootBoxShape,localInertia,&mass,1,m_dynamicsWorld);
body->setWorldTransform(startTransform);
m_dynamicsWorld->addRigidBody(body);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(1.);
body->setCcdSweptSphereRadius(0.2f);
}
}
void CcdPhysicsDemo::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setContactProcessingThreshold(1e30);
///when using m_ccdMode, disable regular CCD
if (m_ccdMode==USE_CCD)
{
body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
body->setCcdSweptSphereRadius(0.4f);
}
}
}
void BulletShooter::shootBox(BulletWorld *world,
const btVector3 &camPos, const btVector3 &destination)
{
btTransform startTransform;
startTransform.setIdentity();
//startTransform.setOrigin(camPos);
btRigidBody* body = world->localCreateRigidBody(1.0f, startTransform, m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
btVector3 linVel(
destination[0]-camPos[0],
destination[1]-camPos[1],
destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.9f);
}
